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/* |
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* Copyright 2010, |
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* François Bleibel, |
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* Olivier Stasse, |
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* |
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* CNRS/AIST |
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* |
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*/ |
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#ifndef __SOT_PERIODICCALL_HH__ |
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#define __SOT_PERIODICCALL_HH__ |
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/* --------------------------------------------------------------------- */ |
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/* --- INCLUDE --------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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/* SOT */ |
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#include <dynamic-graph/entity.h> |
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#include <dynamic-graph/signal-base.h> |
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#include <sot/core/api.hh> |
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/* STD */ |
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#include <list> |
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#include <map> |
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#include <string> |
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/* --------------------------------------------------------------------- */ |
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/* --- CLASS ----------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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namespace dynamicgraph { |
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namespace sot { |
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/*! |
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\class PeriodicCall |
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*/ |
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class SOT_CORE_EXPORT PeriodicCall { |
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protected: |
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struct SignalToCall { |
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dynamicgraph::SignalBase<int> *signal; |
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unsigned int downsamplingFactor; |
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SignalToCall() { |
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signal = NULL; |
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downsamplingFactor = 1; |
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} |
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SignalToCall(dynamicgraph::SignalBase<int> *s, unsigned int df = 1) { |
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signal = s; |
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downsamplingFactor = df; |
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} |
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}; |
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typedef std::map<std::string, SignalToCall> SignalMapType; |
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SignalMapType signalMap; |
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int innerTime; |
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/* --- FUNCTIONS ------------------------------------------------------------ |
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*/ |
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public: |
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PeriodicCall(void); |
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virtual ~PeriodicCall(void) {} |
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void addDownsampledSignal(const std::string &name, |
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dynamicgraph::SignalBase<int> &sig, |
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const unsigned int &downsamplingFactor); |
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void addDownsampledSignal(const std::string &sigpath, |
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const unsigned int &downsamplingFactor); |
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void addSignal(const std::string &name, dynamicgraph::SignalBase<int> &sig); |
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void addSignal(const std::string &args); |
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void rmSignal(const std::string &name); |
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void runSignals(const int &t); |
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void run(const int &t); |
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void clear(void) { signalMap.clear(); } |
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void display(std::ostream &os) const; |
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}; |
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} // namespace sot |
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} // namespace dynamicgraph |
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#endif // #ifndef __SOT_PERIODICCALL_HH__ |
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/* |
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* Local variables: |
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* c-basic-offset: 2 |
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* End: |
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*/ |